# HAND DETECTION_MOTOR_PUMP/Python
# By: Randy Canada
import cv2
import mediapipe as mp
import serial
import time
print(cv2.__version__)
arduino = serial.Serial('COM3', 115200)
class poseTracker:
def __init__(self, width=1280, height=720):
self.width = width
self.height = height
self.cam = cv2.VideoCapture(0, cv2.CAP_DSHOW)
self.cam.set(cv2.CAP_PROP_FRAME_WIDTH, width)
self.cam.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
self.cam.set(cv2.CAP_PROP_FPS, 30)
self.cam.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*'MJPG'))
self.hands = mp.solutions.hands.Hands(static_image_mode=False, max_num_hands=2, min_detection_confidence=0.3, min_tracking_confidence=0.3)
self.faceMesh = mp.solutions.face_mesh.FaceMesh(static_image_mode=False, max_num_faces=3, min_detection_confidence=0.5, min_tracking_confidence=0.5)
self.mpDraw = mp.solutions.drawing_utils
self.last_gesture = None # Initialize last_gesture
self.last_gesture_time = time.time() # Initialize last_gesture_time
def mesh(self, frame):
frameRGB = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
results = self.faceMesh.process(frameRGB)
meshBound = []
if results.multi_face_landmarks:
for faceLandmarks in results.multi_face_landmarks:
indexCount = 0
for lm in faceLandmarks.landmark:
meshBound.append((int(lm.x * self.width), int(lm.y * self.height)))
return meshBound
def handDetection(self, frame):
frameRGB = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
hands_results = self.hands.process(frameRGB)
self.drawSpecCircle = self.mpDraw.DrawingSpec(thickness=1, circle_radius=1, color=(255, 0, 0))
self.drawSpecLine = self.mpDraw.DrawingSpec(thickness=2, circle_radius=2, color=(0, 255, 0))
myHands = []
handsType = []
if hands_results.multi_hand_landmarks:
for hand_landmarks, handedness in zip(hands_results.multi_hand_landmarks, hands_results.multi_handedness):
myHand = []
count = 0
for Landmark in hand_landmarks.landmark:
#cv2.putText(frame, str(count), (int(Landmark.x * self.width), int(Landmark.y * self.height)), cv2.FONT_HERSHEY_SCRIPT_COMPLEX, fontScale=0.8, color=(0, 0, 0), thickness=1)
count += 1
myHand.append((int(Landmark.x * self.width), int(Landmark.y * self.height)))
myHands.append(myHand)
handsType.append(handedness.classification[0].label)
# Customize the color of hand connections here
self.mpDraw.draw_landmarks(frame, hand_landmarks, mp.solutions.hands.HAND_CONNECTIONS,self.drawSpecCircle,self.drawSpecLine)
return myHands, handsType
def run(self):
while True:
ret, frame = self.cam.read()
if not ret:
break
# meshLocation = self.mesh(frame)
myHands1, handsType = self.handDetection(frame)
right_hand_points = []
left_hand_points = []
gesture_detected = False
if myHands1:
for hand, handType in zip(myHands1, handsType):
if handType == 'Right':
right_hand_points.extend(hand)
elif handType == 'Left':
left_hand_points.extend(hand)
print(handsType)
rightThumbDown = (right_hand_points and right_hand_points[0][1] < right_hand_points[1][1] < right_hand_points[2][1] < right_hand_points[3][1] < right_hand_points[4][1]
and right_hand_points[4][1] > right_hand_points[6][1])
leftThumbDown = (left_hand_points and left_hand_points[0][1] < left_hand_points[1][1] < left_hand_points[2][1] < left_hand_points[3][1] < left_hand_points[4][1]
and left_hand_points[4][1] > left_hand_points[6][1])
rightThumbUp = (right_hand_points and right_hand_points[4][1] < right_hand_points[3][1] < right_hand_points[2][1] < right_hand_points[1][1] and
right_hand_points[6][1] > right_hand_points[4][1] and right_hand_points[12][1] > right_hand_points[4][1]
and right_hand_points[16][1] > right_hand_points[4][1] and right_hand_points[17][1] > right_hand_points[4][1])
leftThumbUp = (left_hand_points and left_hand_points[4][1] < left_hand_points[3][1] < left_hand_points[2][1] < left_hand_points[1][1] and
left_hand_points[6][1] > left_hand_points[4][1] and left_hand_points[12][1] > left_hand_points[4][1] and
left_hand_points[16][1] > left_hand_points[4][1] and left_hand_points[17][1] > left_hand_points[4][1])
highFive = ((right_hand_points and right_hand_points[20][1] < right_hand_points[18][1] and right_hand_points[8][1] < right_hand_points[0][1]) or
(left_hand_points and left_hand_points[20][1] < left_hand_points[18][1]) and left_hand_points[8][1] < left_hand_points[0][1])
if (rightThumbUp and not leftThumbDown) or (leftThumbUp and not rightThumbDown):
gesture = 'Thumb'
cv2.putText(frame, 'Start Pouring!', (500, 100), cv2.FONT_ITALIC, fontScale=2, color=(255, 0, 0), thickness=3)
gesture_detected = True
elif highFive:
gesture = 'HighFive'
cv2.putText(frame, 'Stop Pouring!', (500, 100), cv2.FONT_ITALIC, fontScale=2, color=(0, 0, 255), thickness=3)
gesture_detected = True
else:
gesture = 'Unknown'
cv2.putText(frame, 'Unknown Gesture', (500, 100), cv2.FONT_ITALIC, fontScale=2, color=(0, 255, 0), thickness=3)
gesture_detected =False
current_time = time.time()
if gesture != self.last_gesture and (current_time - self.last_gesture_time) > 1: # Debounce time of 1 second
self.last_gesture = gesture
self.last_gesture_time = current_time
if gesture == 'Thumb':
gesture = gesture + '\r'
print(f"Sending gesture: {gesture.strip()}")
arduino.write(gesture.encode())
if gesture == 'HighFive':
gesture = gesture + '\r'
print(f"Sending gesture: {gesture.strip()}")
arduino.write(b'HighFive\r')
else:
if self.last_gesture != "Unknown":
self.last_gesture = "Unknown"
print("Sending gesture: Unknown")
#self.last_gesture = None
cv2.imshow('my WEBcam', frame)
cv2.moveWindow('my WEBcam', 0, 0)
if cv2.waitKey(1) & 0xff == ord('q'):
break
self.cam.release()
cv2.destroy
pose_Tracker = poseTracker()
pose_Tracker.run()
arduino.close()
